Morphological Computation of Haptic Perception of a Controllable Stiffness Probe.
Morphological Computation of Haptic Perception of a Controllable Stiffness Probe.
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DOI：
10.1371/journal.pone.0156982
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发表时间：
2016
期刊：
影响因子：
3.7
通讯作者：
Nanayakkara T
中科院分区：
文献类型：
--
作者：
Sornkarn N;Dasgupta P;Nanayakkara T
当人们被要求触诊一个新的柔软物体，以辨别其物理性质，如纹理、弹性甚至非均匀性时，他们不仅调节探测行为，而且还调节拮抗肌肉的共同收缩水平，以控制手指的机械阻抗。我们怀疑这种行为试图通过调节指尖不同深度的机械感受器和位于肌肉中的肌腱和纺锤体传感器等本体感觉传感器的功能来增强触觉感知。本文设计并制作了一种新型的二自由度变刚度压痕探针，以研究内部刚度、压痕和探针扫描速度（PSV）变量的调节是否会影响利用信息增益指标对人造硅模体中硬夹杂物深度估计的准确性。我们的实验结果不仅为触觉感知的生物学现象提供了新的见解，而且为柔性机器人探针的设计和控制提供了新的机会。
When people are asked to palpate a novel soft object to discern its physical properties such as texture, elasticity, and even non-homogeneity, they not only regulate probing behaviors, but also the co-contraction level of antagonistic muscles to control the mechanical impedance of fingers. It is suspected that such behavior tries to enhance haptic perception by regulating the function of mechanoreceptors at different depths of the fingertips and proprioceptive sensors such as tendon and spindle sensors located in muscles. In this paper, we designed and fabricated a novel two-degree of freedom variable stiffness indentation probe to investigate whether the regulation of internal stiffness, indentation, and probe sweeping velocity (PSV) variables affect the accuracy of the depth estimation of stiff inclusions in an artificial silicon phantom using information gain metrics. Our experimental results provide new insights into not only the biological phenomena of haptic perception but also new opportunities to design and control soft robotic probes.